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Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Payables And Accruals [Abstract]    
Accrued compensation $ 2,817 $ 3,833
Accrued CRO costs 455 955
Accrued CMO costs 569 244
Accrued research and development expenses 262 65
Accrued professional services 287 363
Accrued other liabilities 43 272
Total accrued and other liabilities $ 4,433 $ 5,732